def pid_process(output, p, i, d, objCoord, centerCoord):
# signal trap to handle keyboard interrupt
signal.signal(signal.SIGINT, signal_handler)
# create and init PID
p = PID(p.value, i.value, d.value)
p.initialize()
time.sleep(2)
while True:
error = centerCoord.value - objCoord.value
output.value = p.update(error)
def pid_process(output, p, i, d, objCoord, centerCoord):
# signal trap to handle keyboard interrupt
signal.signal(signal.SIGINT, signal_handler)
# create a PID and initialize it
p = PID(p.value, i.value, d.value)
p.initialize()
# loop indefinitely
while True:
# calculate the error
error = centerCoord.value - objCoord.value
# update the value
output.value = p.update(error)
def pid(output, coord, object_center):
# Get the right values and initialize PID
if coord == 'pan':
pid = PID(panP, panI, panD)
screen_center = centerX
else:
pid = PID(tiltP, tiltI, tiltD)
screen_center = centerY
pid.initialize()
while True:
# Calculate the error
error = screen_center - object_center.value
# If error is 0 then object is in center or is not detected, so re-initialize PID
if abs(error) < screen_center / 10:
pid.initialize()
output.value = 0
else:
output.value = pid.update(error)
time.sleep(0.01)